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 * Copyright (c) 2001-2005 Erwin Coumans <phy@erwincoumans.com>
 * Permission to use, copy, modify, distribute and sell this software
 * and its documentation for any purpose is hereby granted without fee,
 * provided that the above copyright notice appear in all copies and
 * that both that copyright notice and this permission notice appear
 * in supporting documentation.  Erwin Coumans makes no
 * representations about the suitability of this software for any
 * purpose.  It is provided "as is" without express or implied warranty.


#include "PHY_DynamicTypes.h"

      PHY_IPhysicsController is the abstract simplified Interface to a physical object.
      It contains the IMotionState and IDeformableMesh Interfaces.

00025 class PHY_IPhysicsController  

            virtual ~PHY_IPhysicsController();
                  SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
            virtual bool            SynchronizeMotionStates(float time)=0;
                  WriteMotionStateToDynamics ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
            virtual void            WriteMotionStateToDynamics(bool nondynaonly)=0;
            virtual     void        WriteDynamicsToMotionState()=0;
            // controller replication
            virtual     void        PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)=0;

            // kinematic methods
            virtual void            RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)=0;
            virtual void            RelativeRotate(const float drot[12],bool local)=0;
            virtual     void        getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)=0;
            virtual     void        setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)=0;
            virtual     void        setPosition(float posX,float posY,float posZ)=0;
            virtual     void        getPosition(PHY__Vector3&     pos) const=0;
            virtual     void        setScaling(float scaleX,float scaleY,float scaleZ)=0;
            // physics methods
            virtual void            ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local)=0;
            virtual void            ApplyForce(float forceX,float forceY,float forceZ,bool local)=0;
            virtual void            SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)=0;
            virtual void            SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)=0;
            virtual void            applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)=0;
            virtual void            SetActive(bool active)=0;

            // reading out information from physics
            virtual void            GetLinearVelocity(float& linvX,float& linvY,float& linvZ)=0;
            virtual void            GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ)=0; 
            virtual     void        getReactionForce(float& forceX,float& forceY,float& forceZ)=0;

            // dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted 
            virtual     void        setRigidBody(bool rigid)=0;

            // clientinfo for raycasts for example
            virtual     void*                   getNewClientInfo()=0;
            virtual     void                    setNewClientInfo(void* clientinfo)=0;
            virtual PHY_IPhysicsController*     GetReplica() {return 0;}

            virtual void      calcXform() =0;
            virtual void SetMargin(float margin) =0;
            virtual float GetMargin() const=0;
            virtual float GetRadius() const { return 0.f;}
            PHY__Vector3      GetWorldPosition(PHY__Vector3& localpos);



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